Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
internal.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage, Inc. nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *
34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
38#define PCL_GPU_OCTREE_INTERNAL_HPP_
39
40#include <pcl/gpu/containers/device_array.h>
41#include <pcl/gpu/octree/device_format.hpp>
42#include <pcl/gpu/utils/safe_call.hpp>
43
44namespace pcl
45{
46 namespace device
47 {
49 {
50 int *nodes;
51 int *codes;
52 int *begs;
53 int *ends;
54
56
57 int *parent;
58
59 OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
60 };
61
63 {
64 float3 minp, maxp;
65 };
66
67
69 {
70 public:
71 using PointType = float4;
73
76
82
84
85 static void get_gpu_arch_compiled_for(int& bin, int& ptr);
86
89
90 void setCloud(const PointCloud& input_points);
91 void build();
92 void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
93 void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;
94
95 void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
96 void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);
97
98 void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);
99
100 void approxNearestSearch(const Queries& queries, NeighborIndices& results, BatchResultSqrDists& sqr_distance) const;
101
102 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, BatchResultSqrDists& sqr_distances) const;
103
104 //just reference
106
107 // data
111
113
114 //storage
116
118 {
119 std::vector<int> nodes;
120 std::vector<int> codes;
121
122 std::vector<int> begs;
123 std::vector<int> ends;
124
125
126 std::vector<int> indices;
127
128 std::vector<float> points_sorted;
130
132
134
135
137 private:
138 template<typename BatchType>
139 void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
140 };
141
142 void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
143
144 }
145}
146
147#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */
OctreeGlobalWithBox octreeGlobal
Definition internal.hpp:112
struct pcl::device::OctreeImpl::OctreeDataHost host_octree
void radiusSearch(const Queries &queries, float radius, NeighborIndices &results)
DeviceArray2D< float > points_sorted
Definition internal.hpp:108
DeviceArray< int > codes
Definition internal.hpp:109
static void get_gpu_arch_compiled_for(int &bin, int &ptr)
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results, BatchResultSqrDists &sqr_distances) const
void radiusSearchHost(const PointType &center, float radius, std::vector< int > &out, int max_nn) const
DeviceArray2D< int > storage
Definition internal.hpp:115
void setCloud(const PointCloud &input_points)
DeviceArray< int > indices
Definition internal.hpp:110
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist) const
void radiusSearch(const Queries &queries, const Radiuses &radiuses, NeighborIndices &results)
DeviceArray< PointType > PointArray
Definition internal.hpp:72
void radiusSearch(const Queries &queries, const Indices &indices, float radius, NeighborIndices &results)
void approxNearestSearch(const Queries &queries, NeighborIndices &results, BatchResultSqrDists &sqr_distance) const
DeviceArray2D class
DeviceArray class
void bruteForceRadiusSearch(const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)